planning_context_loader.h

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#pragma once
 
#include <pilz_industrial_motion_planner/limits_container.h>
 
#include <memory>
#include <vector>
 
#include <moveit/planning_interface/planning_interface.h>
 
#include <pilz_industrial_motion_planner/limits_container.h>
 
namespace pilz_industrial_motion_planner
{
class PlanningContextLoader
{
public:
  PlanningContextLoader();
  virtual ~PlanningContextLoader();
 
  virtual std::string getAlgorithm() const;
 
  virtual bool setModel(const moveit::core::RobotModelConstPtr& model);
 
  virtual bool setLimits(const pilz_industrial_motion_planner::LimitsContainer& limits);
 
  virtual bool loadContext(planning_interface::PlanningContextPtr& planning_context, const std::string& name,
                           const std::string& group) const = 0;
 
protected:
  template <typename T>
  bool loadContext(planning_interface::PlanningContextPtr& planning_context, const std::string& name,
                   const std::string& group) const;
 
protected:
  std::string alg_;
 
  bool limits_set_;
 
  pilz_industrial_motion_planner::LimitsContainer limits_;
 
  bool model_set_;
 
  moveit::core::RobotModelConstPtr model_;
};
 
typedef std::shared_ptr<PlanningContextLoader> PlanningContextLoaderPtr;
typedef std::shared_ptr<const PlanningContextLoader> PlanningContextLoaderConstPtr;
 
template <typename T>
bool PlanningContextLoader::loadContext(planning_interface::PlanningContextPtr& planning_context,
                                        const std::string& name, const std::string& group) const
{
  if (limits_set_ && model_set_)
  {
    planning_context = std::make_shared<T>(name, group, model_, limits_);
    return true;
  }
  else
  {
    if (!limits_set_)
    {
      RCLCPP_ERROR(rclcpp::get_logger("planning_context_loader"),
                   "Limits are not defined. Cannot load planning context. Call setLimits loadContext");
    }
    if (!model_set_)
    {
      RCLCPP_ERROR(rclcpp::get_logger("planning_context_loader"), "Robot model was not set");
    }
    return false;
  }
}
 
}  // namespace pilz_industrial_motion_planner